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Kevin Lynch

Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

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Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler.

In Course 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints.

This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment.

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What's inside

Syllabus

Chapter 8: Dynamics of Open Chains (Part 1 of 2)
Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot.
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Chapter 8: Dynamics of Open Chains (Part 2 of 2)
Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction.
Chapter 9: Trajectory Generation (Part 1 of 2)
Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.
Chapter 9: Trajectory Generation (Part 2 of 2)
Time-optimal motions along a specified path subject to robot dynamics and actuator limits.

Good to know

Know what's good
, what to watch for
, and possible dealbreakers
Teaches essential numerical algorithms for robot dynamics used in various robotics subfields
Builds on a library of robotics software and uses the free cross-platform robot simulator V-REP, allowing learners to work with advanced robotics without financial investment
Suitable for serious students aiming to work in robotics or pursue advanced studies
Requires extensive mathematical background and a strong foundation in robotics concepts

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Reviews summary

Well-received robotics course

Learners largely agree that Modern Robotics, Course 3: Robot Dynamics is a well-received course that provides good explanations and engaging assignments. Students appreciate the great series of courses and the peer-graded assignments. However, some learners mention that the exams and projects are not challenging. Additionally, a few students express that the solutions to quizzes are not always provided.
Assignments, including peer-graded assignments, are enjoyable.
"Thankyou sir , it was a wonderful journey into the depths of Robot Dynamics !"
"Good Explanations and Great Peer-Graded Assignment"
"Great course. More examples would be helpful"
Course material is well-explained.
"Good Explanations and Great Peer-Graded Assignment"
"Great course! I especially liked last two weeks dedicated to trajectory generation."
"Solid course. The lectures complemented the chapters in the textbook well, each helped cover for some of the weak points of the other."
Solutions to quizzes are not always provided.
"Great Course, learned a lot, but the solutions to the quizzes or questions are not provided for many questions once the correct answer is selected for them."
"Without the solutions, I have no idea about the logic behind getting that answer and feel like I have still more to learn."
Exams and projects are not challenging enough.
"I felt like the exams and projects were generally not challenging enough, and therefore does not push the student to understand the material past a surface level."
"One good assignment which is 5 stars rating, explanatory part of course is 3 rating. Quizes is 4 stars which is in average 4 stars for me."

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in Modern Robotics, Course 3: Robot Dynamics with these activities:
Review 'Modern Robotics: Mechanics, Planning, and Control'
Clarify core concepts of robot dynamics that will be important for the course.
View Modern Robotics on Amazon
Show steps
  • Read Chapter 6: Rigid Body Dynamics
  • Read Chapter 7: Lagrangian Dynamics
  • Complete problem set for Chapters 6 and 7
Organize a study group on robot dynamics
Enhance understanding of robot dynamics by discussing concepts and solving problems with peers.
Browse courses on Robot Dynamics
Show steps
  • Recruit a group of peers who are also taking the course
  • Set up a regular meeting schedule
  • Prepare discussion topics and problem sets for each meeting
  • Meet regularly to discuss the material
Simulate robot dynamics in V-REP
Gain hands-on experience with robot dynamics by simulating robots in the V-REP simulator.
Browse courses on Robot Simulation
Show steps
  • Install the V-REP simulator
  • Load a robot model into V-REP
  • Write a script to control the robot's joints
  • Write a script to visualize the robot's dynamics
Four other activities
Expand to see all activities and additional details
Show all seven activities
Write code to compute robot dynamics
Practice writing code to compute robot dynamics, which is essential for robot control, planning, and simulation.
Browse courses on Robot Dynamics
Show steps
  • Select a robot manipulator (e.g., 2R, 3R, or 4R)
  • Write a function to compute the robot's mass matrix
  • Write a function to compute the robot's Coriolis and centrifugal forces
  • Write a function to compute the robot's gravity forces
  • Write a function to solve the robot's forward dynamics
  • Write a function to solve the robot's inverse dynamics
Attend a workshop on robot dynamics
Gain exposure to advanced topics and techniques in robot dynamics by attending a workshop led by experts.
Browse courses on Robot Dynamics
Show steps
  • Search for upcoming workshops on robot dynamics
  • Register for a relevant workshop
  • Attend the workshop and take notes
  • Apply the knowledge gained in the workshop to your course work
Create a tutorial on robot dynamics
Solidify understanding of robot dynamics by creating a tutorial that explains the concepts to others.
Browse courses on Robot Dynamics
Show steps
  • Choose a specific topic in robot dynamics (e.g., forward dynamics, inverse dynamics, trajectory planning)
  • Gather and organize relevant information from the course materials and other resources
  • Write a clear and concise script
  • Record a video of yourself explaining the topic
  • Edit and publish the tutorial
Develop a robot dynamics simulation
Deepen understanding of robot dynamics by developing a simulation that models the behavior of a robot.
Browse courses on Robot Dynamics
Show steps
  • Choose a specific robot manipulator to simulate
  • Develop a mathematical model of the robot's dynamics
  • Implement the model in a simulation software (e.g., MATLAB, Python, C++)
  • Validate the simulation by comparing its results to analytical solutions or experimental data

Career center

Learners who complete Modern Robotics, Course 3: Robot Dynamics will develop knowledge and skills that may be useful to these careers:
Robotics Engineer
Robotics Engineers design, build, and maintain robots and robotic systems. They use their knowledge of mechanical engineering, electrical engineering, and computer science to create robots that can perform a variety of tasks, from manufacturing to healthcare. The Modern Robotics specialization can help you build a strong foundation in the fundamentals of robotics, which will be essential for success in this role.
Systems Engineer
Systems Engineers are responsible for designing, developing, and integrating complex systems. They work with a variety of stakeholders to ensure that systems meet the needs of users and organizations. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are becoming increasingly common in a variety of industries.
Control Systems Engineer
Control Systems Engineers design and implement control systems for a variety of applications, including robotics, manufacturing, and transportation. The Modern Robotics specialization can help you build a strong foundation in the fundamentals of control theory, which is essential for success in this role.
Mechatronics Engineer
Mechatronics Engineers design and build systems that integrate mechanical, electrical, and computer engineering. They work on a variety of projects, from medical devices to industrial robots. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are a key part of many mechatronic systems.
Automation Engineer
Automation Engineers design and implement automated systems for a variety of applications, including manufacturing, transportation, and healthcare. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are a key part of many automated systems.
Project Manager
Project Managers are responsible for planning, executing, and closing projects. They work with a variety of stakeholders to ensure that projects are completed on time, within budget, and to the satisfaction of stakeholders. The Modern Robotics specialization can help you develop the skills needed to manage projects involving robotics.
Data Scientist
Data Scientists use data to solve problems and make decisions. They work in a variety of industries, including finance, healthcare, and manufacturing. The Modern Robotics specialization can help you develop the skills needed to collect and analyze data from robotic systems, which can be used to improve the performance of robots and systems.
Software Engineer
Software Engineers design, develop, and maintain software systems. They work on a variety of projects, from mobile apps to enterprise software. The Modern Robotics specialization can help you develop the skills needed to design and build software for robotic systems.
Product Manager
Product Managers are responsible for the development and launch of new products. They work with a variety of stakeholders to ensure that products meet the needs of users and organizations. The Modern Robotics specialization can help you develop the skills needed to manage the development of robotic products.
Industrial Engineer
Industrial Engineers design and implement systems to improve productivity and efficiency. They work with engineers and other team members to identify and solve problems in manufacturing and other industries. The Modern Robotics specialization can help you develop the skills needed to design and implement robotic systems to improve productivity and efficiency.
Manufacturing Engineer
Manufacturing Engineers design and implement manufacturing processes. They work with engineers and other team members to ensure that products are manufactured efficiently and to the highest quality standards. The Modern Robotics specialization can help you develop the skills needed to manufacture robotic systems.
Technical Writer
Technical Writers create documentation for a variety of products and services. They work with engineers and other technical experts to gather information and create clear and concise documentation. The Modern Robotics specialization can help you develop the skills needed to write documentation for robotic systems.
Sales Engineer
Sales Engineers help customers select and implement products and services. They work with customers to understand their needs and provide them with the best solutions. The Modern Robotics specialization can help you develop the skills needed to sell robotic systems to customers.
Operations Research Analyst
Operations Research Analysts use mathematical and statistical models to solve problems in a variety of industries. They work with engineers and other team members to identify and solve problems in manufacturing, transportation, and other industries. The Modern Robotics specialization can help you develop the skills needed to use mathematical and statistical models to solve problems in robotics.
Quality Assurance Engineer
Quality Assurance Engineers ensure that products and services meet quality standards. They work with engineers and other team members to test products and identify and fix defects. The Modern Robotics specialization can help you develop the skills needed to test and validate robotic systems.

Reading list

We've selected 11 books that we think will supplement your learning. Use these to develop background knowledge, enrich your coursework, and gain a deeper understanding of the topics covered in Modern Robotics, Course 3: Robot Dynamics.
Is written by the instructor of the course, and covers the same material. It is an excellent resource for additional reading and reference.
More advanced textbook on robot dynamics and control. It provides a more in-depth treatment of the material covered in the course.
Provides a comprehensive treatment of the dynamics of multibody systems, including robots. It good reference for those who want to learn more about the theoretical foundations of robot dynamics.
Good resource for learning about trajectory planning for robots. It covers a wide range of topics, including path planning, motion planning, and trajectory optimization.
Good reference for those who want to learn more about motion planning for robots. It covers a wide range of topics, including path planning, motion planning, and trajectory optimization.
Provides a clear and concise introduction to robot dynamics. It good resource for those who want to learn the basics of robot dynamics without getting bogged down in the details.
Good general introduction to robotics. It covers a wide range of topics, including kinematics, dynamics, control, and applications.
Good reference for those who want to learn more about the robotics and automation industry. It covers a wide range of topics, including kinematics, dynamics, control, and applications.
Good resource for those who want to learn more about building robots. It covers a wide range of topics, including kinematics, dynamics, control, and applications.

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